A mobile indoor fire extinguishing method

Abstract

The present invention discloses a mobile indoor fire extinguishing method, comprising the steps of: installing a mobile fire extinguishing device; using a mobile fire extinguishing device to extinguish an indoor fire source; including: placing the mobile fire extinguishing device in a room, inputting indoor space layout information into a computer to form a room map; the computer determines whether a fire has occurred and the location of the fire according to the values ​​output by various sensors, outputs a walking planning route, and the mobile fire extinguishing device drives to the fire location according to the planned route to extinguish the fire. The method can achieve accurate extinguishing of indoor fire points.

Description

Technical Field

[0001] The invention relates to a fire extinguishing method, in particular to an indoor fire extinguishing method. Background Art

[0002] Currently available intelligent and automated fire extinguishing devices include automatic water sprinkler fire extinguishing systems, gas fire extinguishing systems, water mist fire extinguishing systems, foam fire extinguishing systems, dry powder fire extinguishing systems, automatic fire extinguishers (fire extinguisher systems), combined water spray and gas mist fire extinguishing systems, fire-fighting robots and unmanned fire extinguishing devices, intelligent fire extinguishing systems, etc. These systems can automatically activate the fire extinguishing system when a fire occurs, extinguish the fire source in time, and prevent the fire from spreading.

[0003] The above existing fire extinguishing systems mainly have the following disadvantages:

[0004] (1) It cannot meet the requirements of point-to-point precise fire extinguishing and is likely to cause secondary damage to the protected object.

[0005] (2) It is impossible to extinguish the fire source in a closed environment (cabinets and drawers made of different materials) in the first time.

[0006] (3) There are widespread problems such as high costs, false alarms, difficulty in cleaning, and difficulty in maintenance and inspection. Summary of the invention

[0007] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a mobile indoor fire extinguishing method integrating autonomous positioning, image recognition and multi-functions, which can be used for early detection and extinguishing of indoor fires.

[0008] A mobile indoor fire extinguishing method of the present invention comprises the following steps:

[0009] Step 1: Install mobile fire extinguishing equipment, the mobile fire extinguishing equipment includes:

[0010] A moving mechanism, the moving mechanism comprising a base plate and universal wheels rotatably mounted on the base plate, the rotating shafts of the universal wheels being rotatably connected to the base plate, and the rotating shafts of each universal wheel being respectively connected to the rotation output end of the travel drive mechanism;

[0011] A smoke exhaust mechanism, the smoke exhaust mechanism is used to exhaust smoke encountered during the movement of the fire extinguishing device; the smoke exhaust mechanism comprises a smoke exhaust box installed on the bottom plate, a plurality of openings are opened on the side wall of the smoke exhaust box, filters are arranged at the plurality of openings, and a fan is placed in the smoke exhaust box;

[0012] An adjustable fire extinguishing system, the adjustable fire extinguishing system comprising a turntable mounted on the top wall of the smoke exhaust mechanism, an adjustment box mounted on the top wall of the turntable, and an adjustable mechanical arm mechanism, the turntable being connected to a rotary drive mechanism, and the turntable being driven by the rotary drive mechanism to be able to rotate 360 ​​degrees around the vertical center axis of the turntable;

[0013] A water tank for holding water is installed in the regulating box, and a water inlet and a water outlet are opened on the water tank. The water inlet can be connected to a water supply source through a water pipe, and the water outlet is connected to the water inlet of a water pump installed in the regulating box through a pipeline, and the water outlet of the water pump is connected to a nozzle through a water pipe. The nozzle is connected to the motion output end of the up-and-down motion driving mechanism installed in the regulating box and can move up and down under the drive of the up-and-down motion driving mechanism. The nozzle is located outside the regulating box. The camera and the temperature sensor are respectively installed on the side and top wall of the regulating box, and the signal output end of the temperature sensor is connected to the computer;

[0014] The adjustable mechanical arm mechanism includes a base installed on a turntable, two brackets are arranged on the base in parallel and spaced apart in the vertical direction, a support is arranged on the outside of one of the brackets, a first rotating motor is arranged on the top of the support, a control box is arranged on the upper part between the two brackets, the rotating shaft of the first rotating motor arranged in the horizontal direction passes through the left and right brackets and is rotatably connected to the left and right brackets, the rotating shaft of the first rotating motor is fixedly connected to the control box, a second rotating motor is installed in the control box, and the rotating shaft of the second rotating motor is arranged on the rotating shaft of the first rotating motor The shaft can rotate around a plane perpendicular to the axis of the rotating shaft of the first rotating motor, and the rotating shaft of the second rotating motor is fixedly connected to the web of a U-shaped bracket, and can drive the entire U-shaped bracket to rotate; a frame is arranged on the upper part between the left and right flange plates of the U-shaped bracket, and a servo motor is connected to the outer wall of the flange plate on one side of the U-shaped bracket, and the rotating shaft of the servo motor is rotatably connected to the left and right flange plates and fixedly connected to the frame, and the rotating shaft of the servo motor is arranged parallel to the rotating shaft of the first rotating motor, and a manipulator is connected to the top wall of the frame, and the mechanical claw of the manipulator is used for grasping;

[0015] A shell is fixed on the front wall of the frame, a forward and backward moving mechanism is installed in the shell, a motion output end of the forward and backward moving mechanism is fixedly connected to the suction cup, and the suction cup can move forward and backward under the drive of the motion output end of the forward and backward moving mechanism;

[0016] The flame identification and positioning module includes a control box installed at the rear of the base plate, a depth camera and an infrared thermal imager are installed on the top of the control box, and the control system module of the depth camera, infrared thermal imager, camera, and power supply are loaded in the control box and connected to the computer;

[0017] A fire source location sensing system, the fire source location sensing system comprises a smoke sensor installed on the roof, the smoke sensor is used for smoke alarm in the early stage of fire and is connected to a computer;

[0018] The controllers of the travel drive mechanism, fan, rotation drive mechanism, water pump, up and down motion drive mechanism, first rotation motor, second rotation motor, servo motor, manipulator and forward and backward movement mechanism are respectively connected to the computer;

[0019] Step 2: Use a mobile fire extinguishing device to extinguish the indoor fire source. The specific steps are:

[0020] The first step is to place the mobile fire extinguishing device in the house and enter the indoor space layout information into the computer to form a room map;

[0021] In the second step, the smoke sensor detects the smoke concentration value in the house in real time, the temperature sensor detects the temperature value in the house in real time, and the infrared thermal imager monitors the temperature change in the house in real time. The smoke sensor transmits the measured smoke concentration value in the house, the temperature sensor detects the temperature value in the house, and the infrared thermal imager transmits the real-time detected temperature value in the house to the computer respectively. If any one of the smoke concentration, temperature value and infrared thermal imager output value is greater than the set safety threshold, it is determined that there is a fire; the computer outputs a signal to the depth camera, the depth camera shoots the specific spatial position of the fire source to obtain the depth image of the fire source and transmits the analyzed three-dimensional spatial information of the fire source position to the computer; the computer plans the route of the mobile fire extinguishing device according to the three-dimensional spatial position information of the fire source position, and the camera and the depth camera shoot the structural layout at the fire point position during the movement of the mobile fire extinguishing device, and transmits the captured image back to the computer. The computer processes and outputs the image data based on the image processing library and scientific computing library in Python of the windows system to determine the structural characteristics and spatial conditions of the location of the fire source;

[0022] In the third step, after the mobile fire extinguishing device reaches the end of the planned path, the computer outputs a control signal to the mobile fire extinguishing device to stop moving, and outputs instructions according to the structural characteristics and spatial conditions of the location of the fire source; if the fire point is in a relatively closed space such as a cabinet or drawer, the suction cup is started and moved to the designated position to work, otherwise, the manipulator is started and moved to the designated position to work, or the manipulator and the suction cup are started alternately and moved to the designated position to work on the complex structure target, and at the same time, the computer starts the water pump connected to the sprinkler and adjusts the sprinkler position by outputting position adjustment instructions so that the sprinkler sprays water facing the fire source to extinguish the fire source;

[0023] In the fourth step, the computer makes a judgment based on the real-time signals output by the smoke sensor, temperature sensor and infrared thermal imager. If the smoke concentration, temperature value and the data output by the infrared thermal imager are all within the set safety threshold, it means that the fire is extinguished, the mobile fire extinguishing device returns along the original route, the water tank is filled with water and the battery is charged, and fire early warning monitoring continues.

[0024] The present invention is beneficial in that:

[0025] (1) The mobile fire extinguishing device has high fire identification sensitivity and can accurately extinguish indoor fire points, effectively avoiding secondary water damage in areas outside the fire source.

[0026] (2) Adjustable functions: The fire extinguishing device can accurately extinguish fire sources at different heights and directions through a turntable and a slide rail; the suction cup and mechanical claws on the robotic arm can work according to objects of different materials and forms, and can achieve early extinguishing of fire sources in closed areas.

[0027] (3) The indoor environment is narrow and complex, and visibility is poor, especially when a fire occurs. The device is equipped with guide wheels and a smoke exhaust system to ensure high efficiency during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] Figure 1 A three-dimensional diagram of a mobile fire extinguishing device used in the mobile indoor fire extinguishing method of the present invention;

[0030] Figure 2 for Figure 1 A schematic diagram of the structure of the robotic arm in the structure shown;

[0031] Figure 3 is a system block diagram of the mobile indoor fire extinguishing method of the present invention;

[0032] Figure 4 Schematic diagram of the visible light and infrared image fusion algorithm. DETAILED DESCRIPTION

[0033] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0034] In the following description, many specific details are set forth to facilitate a full understanding of the technical solution of the present disclosure, but the technical solution of the present disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the technical solution of the present disclosure, rather than all of the embodiments.

[0035] As shown in the accompanying drawings, a mobile indoor fire extinguishing method of the present invention comprises the following steps:

[0036] Step 1: Install mobile fire extinguishing equipment, the mobile fire extinguishing equipment includes:

[0037] The moving mechanism may include a base plate and a universal wheel 12 installed on the base plate, the rotating shaft of the universal wheel is rotatably connected to the base plate, the rotating shaft of each universal wheel is respectively connected to the rotation output end of the travel drive mechanism, and the travel drive mechanism may include a travel drive motor installed on the base plate, and the motor shaft of the travel drive motor is fixedly connected to the rotating shaft of the universal wheel.

[0038] A smoke exhaust mechanism 2, which is used to remove smoke encountered during the movement of the fire extinguishing device; it may include a smoke exhaust box installed on a bottom plate, with multiple openings on the side wall of the smoke exhaust box, filters are arranged at the multiple openings, and a fan is placed in the smoke exhaust box. When the fan is working, wind blows from the inside to the outside through the openings on the smoke exhaust box, and as the mobile fire extinguishing device moves, the smoke in front of the device is blown away, and the filter is combined to remove the smoke on the moving route and prevent the burning materials from splashing and damaging the mobile fire extinguishing device.

[0039] An adjustable fire extinguishing system, the adjustable fire extinguishing system comprises a turntable 4 mounted on the top wall of the smoke exhaust mechanism, an adjustment box 5 mounted on the top wall of the turntable, and an adjustable mechanical arm mechanism A, wherein the adjustment box is driven to rotate at a certain angle by the rotation of the turntable 4. The turntable is connected to a rotation drive mechanism, and the turntable can rotate 360 ​​degrees around the vertical center axis of the turntable under the drive of the rotation drive mechanism. The rotation drive mechanism may include a rotating motor mounted on the top wall of the smoke exhaust mechanism, and the motor shaft of the rotating motor arranged in the vertical direction is fixedly connected to the bottom wall of the turntable.

[0040] A water tank for holding water is installed in the regulating box, and a water inlet and a water outlet are opened on the water tank. The water inlet can be connected to the water supply source through a water pipe, and the water outlet is connected to the water inlet of the water pump installed in the regulating box through a pipeline, and the water outlet of the water pump is connected to the nozzle through a water pipe. The nozzle is connected to the motion output end of the up-and-down motion driving mechanism installed in the regulating box and can move up and down under the drive of the up-and-down motion driving mechanism. The nozzle is located outside the regulating box. The camera 6 and the temperature sensor 8 are respectively installed on the side and top wall of the regulating box 5, and the signal output end of the temperature sensor and the computer do not interfere with the position adjustment of the nozzle 7.

[0041] As an embodiment of the present invention, a slide rail groove is opened on the front wall of the box body in the vertical direction, the up and down movement driving mechanism is a crank slider mechanism, the slide rail of the crank slider mechanism is fixed in the slide rail groove, and the nozzle is connected to the slider of the crank slider mechanism through a bracket. Further preferably, guide grooves are respectively fixed in the slide rail grooves on the left and right sides of the slide rail, pulleys are respectively installed on the left and right ends of the bracket, and the pulleys are respectively arranged in the guide grooves on the corresponding sides and can move up and down along the guide grooves.

[0042] The motor of the crank slider mechanism drives the crank slider to move linearly, and then drives the nozzle to move up and down, so as to adjust the height of the nozzle and reduce friction. A water inlet is opened on the water tank. After the device arrives at the site, the water inlet of the water tank is connected to the water pipe, and a water pump is installed in the tank to provide water for the nozzle to extinguish the fire source.

[0043] The adjustable mechanical arm mechanism includes a base 24 installed on the turntable 4, two brackets 21 are arranged on the base in parallel and spaced apart in the vertical direction, a support 23 is arranged on the outside of one of the brackets, a first rotating motor 22 is arranged on the top of the support, a control box is arranged on the upper part between the two brackets, the rotating shaft of the first rotating motor arranged in the horizontal direction passes through the left and right brackets and is rotatably connected to the left and right brackets, the rotating shaft of the first rotating motor is fixedly connected to the control box 20, and a second rotating motor is installed in the control box 20, and the rotating shaft of the second rotating motor can rotate around the rotating shaft of the first rotating motor under the drive of the rotating shaft of the first rotating motor. The axis of the rotating shaft of the first rotating motor rotates in a plane perpendicular to the axis, and the rotating shaft of the second rotating motor is fixedly connected to the web of a U-shaped bracket 19, which can drive the entire U-shaped bracket to rotate; a frame 17 is arranged on the upper part between the left and right flange plates of the U-shaped bracket 19, and a servo motor 18 is connected to the outer wall of the flange plate on one side of the U-shaped bracket, and the rotating shaft of the servo motor 18 is rotationally connected to the left and right flange plates and fixedly connected to the frame, and the rotating shaft of the servo motor 18 is arranged parallel to the rotating shaft of the first rotating motor, and a manipulator 16 is connected to the top wall of the frame, and the mechanical claw 15 of the manipulator is used for grasping; the manipulator can adopt the existing structure.

[0044] A shell 14 is fixed on the front wall of the frame 17, and a forward and backward moving mechanism is installed in the shell. The motion output end of the forward and backward moving mechanism is fixedly connected to the suction cup. The suction cup can move forward and backward under the drive of the motion output end of the forward and backward moving mechanism. The forward and backward moving mechanism can be a crank slider mechanism installed in the shell, and the slider of the crank slider mechanism is fixedly connected to the support frame connected to the suction cup as the motion output end. The forward and backward moving mechanism can also be an existing structure such as a linear motor. The suction cup is adsorbed by driving the suction cup forward through the motion output end of the forward and backward moving mechanism. The mechanical claw and the suction cup can be rotated 90° by the servo motor at the top of the U-shaped bracket to control the rotating shaft, so as to realize the conversion of the working states of the two mechanical claws and the suction cup.

[0045] The flame identification and positioning module includes a control box 11 installed at the rear of the base plate, and a depth camera 10 and an infrared thermal imager 9 are installed on the top of the control box. The depth camera and the infrared thermal imager are combined to use the captured images to realize the rapid identification and positioning of the flame. Among them, the infrared thermal imager is mainly used in smoke-covered and dark environments. At the same time, a temperature sensor is used to assist in detecting the temperature of the ignition point. The control system module of the depth camera 10, infrared thermal imager 9, camera 6, and the power supply are loaded in the control box 11 and connected to the computer, which are used to identify the fire source, receive and send signals, automatically locate, realize the function of the robotic arm, and realize the fire extinguishing light command.

[0046] A fire source location sensing system, the fire source location sensing system includes a smoke sensor installed on the roof, the smoke sensor is used for smoke alarm in the early stage of fire and is connected to a computer. Preferably, the smoke sensor is connected to the computer by wire to receive signals to improve the stability of information transmission.

[0047] Preferably, a plurality of guide wheel mechanisms 1 are rotatably connected to the side walls around the bottom plate, so that the device can be automatically positioned when it is started and can passively realize steering and supporting functions when encountering obstacles during mobile fire extinguishing.

[0048] Preferably, two signal lights 3 are installed on the smoke exhaust mechanism, which indicate the early warning and the cancellation of the early warning of the fire through different colors. The control system module of the signal lights 3 is loaded in the control box 11 and connected to the computer.

[0049] Preferably, the controllers of the travel drive mechanism, the fan, the rotation drive mechanism, the water pump, the up and down motion drive mechanism, the first rotation motor, the second rotation motor, the servo motor, the manipulator and the forward and backward movement mechanism are respectively connected to the computer.

[0050] Step 2: Use a mobile fire extinguishing device to extinguish the indoor fire source. The specific steps are:

[0051] The first step is to place the mobile fire extinguishing device in the house and enter the indoor space layout information into the computer to form a room map;

[0052] In the second step, the smoke sensor detects the smoke concentration value in the house in real time, the temperature sensor 8 detects the temperature value in the house in real time, and the infrared thermal imager 9 monitors the temperature change in the house in real time. The smoke sensor transmits the measured smoke concentration value in the house, the temperature sensor 8 detects the temperature value in the house, and the infrared thermal imager 9 transmits the real-time detected temperature value in the house to the computer respectively. If any one of the smoke concentration, temperature value and infrared thermal imager output value is greater than the set safety threshold, it is judged that there is a fire; the computer outputs a signal to the depth camera, and the depth camera 10 shoots the specific spatial position of the fire source to obtain the depth image of the fire source and analyzes the three-dimensional image of the fire source position. The computer transmits the three-dimensional spatial information to the computer; the computer plans the route of the mobile fire extinguishing device according to the three-dimensional spatial position information of the fire source location, and the camera 6 and the depth camera 10 take pictures of the structural layout at the fire point location during the movement of the mobile fire extinguishing device, and transmit the captured images back to the computer. The computer processes the image data (such as reading, displaying, converting, enhancing, analyzing and processing) and outputs it based on the image processing library (OpenCV, Pillow, NumPy) and scientific computing library in Python of the windows system to determine the structural characteristics and spatial conditions of the location of the fire source;

[0053] The specific process of the computer planning the route of the mobile fire extinguishing device can be as follows:

[0054] In step 201, the computer performs visualization point cloud processing on the fire source depth image data taken by the depth camera based on the Open3D processing library in Python on the Windows system to obtain three-dimensional point cloud data, and uses the three-dimensional point cloud data to locate the spatial coordinates of the fire source, map the fire source coordinates to the room map established in advance, and mark the current fire source position.

[0055] Step 202, combining the known room map and the current fire source location, using a path planning algorithm, taking the shortest path length and navigation time as optimization goals, calculating the optimal walking path that can avoid obstacles and dangerous areas in the house, generating a series of target points on the optimal walking path and outputting them to the mobile mechanism of the mobile fire extinguishing device;

[0056] In step 203, the computer issues the following instructions: the computer transmits the target point on the optimal walking path to the controller of the walking drive mechanism of the mobile fire extinguishing device, and wirelessly controls the mobile fire extinguishing device to go to the fire source. During the driving process, the computer outputs instructions to the motor of the fan in the smoke exhaust mechanism 2 to start the fan to blow away the smoke in the travel route, so as to prevent the mobile fire extinguishing device from affecting the normal operation of the control system and circuits due to the interference of smoke; at the same time, preferably, the computer outputs instructions to the signal light, and the signal light 3 lights up in red to remind the staff that there is a fire; when encountering an obstacle, the guide wheel 1 performs passive steering and stops moving after reaching the fire point.

[0057] The third step is that after the mobile fire extinguishing device reaches the end point of the planned path, the computer outputs a control signal to the mobile fire extinguishing device to stop moving, and outputs instructions according to the structural characteristics and spatial conditions of the location of the fire source (used to decide whether to start the suction cup or the mechanical claw in the mechanical arm or the combination of the two. For example, if the fire source is inside the cabinet and the cabinet door can be opened, the suction cup is used to directly suck the cabinet door open. If the fire source is in the drawer and the drawer has a handle, the mechanical claw is used to hold the handle and pull it open). If the fire point is in a relatively closed space such as a cabinet or a drawer, the suction cup is started and moved to the designated position to work. Otherwise, the manipulator is started and moved to the designated position to work, or the manipulator and the suction cup are started alternately and moved to the designated position to work on a complex structure target. At the same time, the computer starts the water pump connected to the sprinkler 7 and adjusts the sprinkler position by outputting a position adjustment instruction so that the sprinkler 7 sprays water facing the fire source, and the fire source is accurately extinguished.

[0058] The process of moving the suction cup or the manipulator to the specified position can be specifically as follows:

[0059] The computer outputs a start command to the controller of the rotating drive mechanism connected to the turntable, driving the turntable to rotate, thereby driving the adjustable mechanical arm A and the water tank to rotate a certain angle. The first rotating motor 22 drives the control box to rotate a certain angle according to the command output by the computer, gradually eliminates the angle and height errors, and adjusts the height of the adjustable mechanical arm until the mechanical arm A and the structure where the fire source is located (cabinet, drawer, etc., the cabinet door to be opened, handles, etc.) are aligned. The second rotating motor rotates to drive the mechanical claw 15 to rotate, and the control system of the mechanical claw receives the command output by the computer to grab the structure where the fire source is located; or the first rotating motor 22 drives the control box to rotate a certain angle according to the command output by the computer. The control box is driven to rotate a certain angle, the servo motor 18 rotates a certain angle according to the command output by the computer, and the controller of the forward and backward moving mechanism connected to the suction cup moves forward and backward according to the command output by the computer. The suction cup 13 is driven to rotate by the rotation of the second rotating motor, and then the position of the suction cup's mouth is adjusted to adsorb on the structure where the ignition point is located (the cabinet door or drawer is stretched), and the structure where the ignition point is located (cabinet or drawer) is opened; if the computer determines the action of the manipulator in this process, the rotating motor 18 rotates a certain angle according to the command output by the computer and is converted into the manipulator grabbing the structure where the ignition point is located (stretching the handle of the cabinet or drawer).

[0060] The position adjustment process of the nozzle is as follows:

[0061] The depth camera obtains the 3D position of the fire source (for example, through a point cloud) and outputs it to the computer. The computer calculates the distance, height and angle error between the mobile fire extinguishing device and the structure where the fire source is located (cabinet or drawer, etc.) based on the three-dimensional point cloud coordinate system conversion of the fire source. Then the computer outputs a control signal to the controller of the rotation drive mechanism of the turntable to control the turntable to rotate a certain angle, and the controller of the up and down motion drive mechanism connected to the nozzle starts the up and down motion drive mechanism according to the control signal output by the computer to drive the nozzle 7 to adjust the up and down position so that the nozzle 7 sprays water facing the fire source.

[0062] In the fourth step, the computer makes a judgment based on the real-time signals output by the smoke sensor, temperature sensor 8 and infrared thermal imager 9. If the smoke concentration, temperature value and the data output by the infrared thermal imager are all within the set safety threshold, it means that the fire is extinguished. The computer transmits a signal to the control system of the signal light, making the signal light light blue, prompting the staff to lift the alarm, and the mobile fire extinguishing device returns along the original route, the water tank is filled with water and the battery is charged, and fire early warning monitoring continues.

[0063] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the invention.

Claims

1. A mobile indoor fire extinguishing method, characterized in that: The following steps are involved: Step 1: Install mobile fire extinguishing equipment, the mobile fire extinguishing equipment includes: A moving mechanism, the moving mechanism comprising a base plate and universal wheels rotatably mounted on the base plate, the rotating shafts of the universal wheels being rotatably connected to the base plate, and the rotating shafts of each universal wheel being respectively connected to the rotation output end of the travel drive mechanism; A smoke exhaust mechanism, the smoke exhaust mechanism is used to exhaust smoke encountered during the movement of the fire extinguishing device; the smoke exhaust mechanism comprises a smoke exhaust box installed on the bottom plate, a plurality of openings are opened on the side wall of the smoke exhaust box, filters are arranged at the plurality of openings, and a fan is placed in the smoke exhaust box; An adjustable fire extinguishing system, the adjustable fire extinguishing system comprising a turntable (4) mounted on the top wall of a smoke exhaust mechanism, an adjustment box (5) mounted on the top wall of the turntable, and an adjustable mechanical arm mechanism (A), the turntable being connected to a rotary drive mechanism, and the turntable being driven by the rotary drive mechanism to be able to rotate 360 ​​degrees around the vertical center axis of the turntable; A water tank for storing water is installed in the regulating box body, and a water inlet and a water outlet are opened on the water tank. The water inlet can be connected to a water supply source through a water pipe, and the water outlet is connected to a water inlet of a water pump installed in the regulating box body through a pipeline. The water outlet of the water pump is connected to a nozzle through a water pipe. The nozzle is connected to a motion output end of an up-and-down motion driving mechanism installed in the regulating box body and can move up and down under the drive of the up-and-down motion driving mechanism. The nozzle is located outside the regulating box body; a camera (6) and a temperature sensor (8) are respectively installed on the side and top wall of the regulating box body (5), and a signal output end of the temperature sensor is connected to a computer; The adjustable mechanical arm mechanism comprises a base (24) mounted on a turntable (4), two brackets (21) are arranged on the base in parallel and spaced apart in the vertical direction, a support (23) is arranged on the outside of one of the brackets, a first rotating motor (22) is arranged on the top of the support, a control box is arranged on the upper part between the two brackets, a rotating shaft of the first rotating motor arranged in the horizontal direction passes through the left and right brackets and is rotatably connected to the left and right brackets, the rotating shaft of the first rotating motor is fixedly connected to the control box (20), a second rotating motor is installed in the control box, and the rotating shaft of the second rotating motor is connected to the first rotating motor The rotating shaft can rotate around a plane perpendicular to the axis of the rotating shaft of the first rotating motor. The rotating shaft of the second rotating motor is fixedly connected to the web of a U-shaped bracket (19) and can drive the entire U-shaped bracket to rotate. A frame (17) is arranged on the upper part between the left and right flange plates of the U-shaped bracket. A servo motor (18) is connected to the outer wall of the flange plate on one side of the U-shaped bracket. The rotating shaft of the servo motor is rotationally connected to the left and right flange plates and fixedly connected to the frame. The rotating shaft of the servo motor is arranged parallel to the rotating shaft of the first rotating motor. A manipulator (16) is connected to the top wall of the frame. The mechanical claw (15) of the manipulator is used for grasping. A housing (14) is fixed on the front wall of the frame (17), a forward and backward moving mechanism is installed in the housing, a motion output end of the forward and backward moving mechanism is fixedly connected to the suction cup, and the suction cup can move forward and backward under the drive of the motion output end of the forward and backward moving mechanism; The flame identification and positioning module comprises a control box (11) installed at the rear of a base plate, a depth camera (10) and an infrared thermal imager (9) are installed on the top of the control box, and the depth camera (10), the infrared thermal imager, the camera control system module, and the power supply are loaded in the control box and connected to a computer; A fire source location sensing system, the fire source location sensing system comprises a smoke sensor installed on the roof, the smoke sensor is used for smoke alarm in the early stage of fire and is connected to a computer; The controllers of the travel drive mechanism, fan, rotation drive mechanism, water pump, up and down motion drive mechanism, first rotation motor, second rotation motor, servo motor, manipulator and forward and backward movement mechanism are respectively connected to the computer; Step 2: Use a mobile fire extinguishing device to extinguish the indoor fire source. The specific steps are: The first step is to place the mobile fire extinguishing device in the house and enter the indoor space layout information into the computer to form a room map; In the second step, the smoke sensor detects the smoke concentration value in the house in real time, the temperature sensor detects the temperature value in the house in real time, and the infrared thermal imager monitors the temperature change in the house in real time. The smoke sensor transmits the measured smoke concentration value in the house, the temperature sensor detects the temperature value in the house, and the infrared thermal imager transmits the real-time detected temperature value in the house to the computer respectively. If any one of the smoke concentration, temperature value and infrared thermal imager output value is greater than the set safety threshold, it is determined that there is a fire; the computer outputs a signal to the depth camera, the depth camera shoots the specific spatial position of the fire source to obtain the depth image of the fire source and transmits the analyzed three-dimensional spatial information of the fire source position to the computer; the computer plans the route of the mobile fire extinguishing device according to the three-dimensional spatial position information of the fire source position, and the camera and the depth camera shoot the structural layout at the fire point position during the movement of the mobile fire extinguishing device, and transmits the captured image back to the computer. The computer processes and outputs the image data based on the image processing library and scientific computing library in Python of the windows system to determine the structural characteristics and spatial conditions of the location of the fire source; In the third step, after the mobile fire extinguishing device reaches the end of the planned path, the computer outputs a control signal to the mobile fire extinguishing device to stop moving, and outputs instructions according to the structural characteristics and spatial conditions of the location of the fire source; if the fire point is in a relatively closed space such as a cabinet or drawer, the suction cup is started and moved to the designated position to work, otherwise, the manipulator is started and moved to the designated position to work, or the manipulator and the suction cup are started alternately and moved to the designated position to work on the complex structure target, and at the same time, the computer starts the water pump connected to the sprinkler and adjusts the sprinkler position by outputting position adjustment instructions so that the sprinkler sprays water facing the fire source to extinguish the fire source; In the fourth step, the computer makes a judgment based on the real-time signals output by the smoke sensor, temperature sensor and infrared thermal imager. If the smoke concentration, temperature value and the data output by the infrared thermal imager are all within the set safety threshold, it means that the fire is extinguished, the mobile fire extinguishing device returns along the original route, the water tank is filled with water and the battery is charged, and fire early warning monitoring continues.

2. The mobile indoor fire extinguishing method according to claim 1, characterized in that: A slide rail groove is opened on the front wall of the regulating box in the vertical direction. The up and down motion driving mechanism is a crank slider mechanism. The slide rail of the crank slider mechanism is fixed in the slide rail groove. The nozzle is connected to the slider of the crank slider mechanism through a bracket.

3. The mobile indoor fire extinguishing method according to claim 2, characterized in that: Guide grooves are fixed in the slide rail grooves on the left and right sides of the slide rail, and pulleys are installed on the left and right ends of the bracket. The pulleys are respectively arranged in the guide grooves on the corresponding sides and can move up and down along the guide grooves.

4. The mobile indoor fire extinguishing method according to claim 1 or 2, characterized in that: A plurality of guide wheel mechanisms are rotatably connected to the side walls around the bottom plate.

5. The mobile indoor fire extinguishing method according to claim 4, characterized in that: Two signal lights are installed on the smoke exhaust mechanism, and the control system module of the signal lights is loaded in the control box and connected to the computer.

6. The mobile indoor fire extinguishing method according to claim 5, characterized in that: The smoke sensor is connected to the computer via wired mode to receive signals.

7. The mobile indoor fire extinguishing method according to claim 5, characterized in that: The specific process of the computer planning the route of the mobile fire extinguishing device is as follows: In step 201, the computer performs visualization point cloud processing on the fire source depth image data taken by the depth camera based on the Open3D processing library in Python on the Windows system to obtain three-dimensional point cloud data, and uses the three-dimensional point cloud data to locate the spatial coordinates of the fire source, map the fire source coordinates to the room map established in advance, and mark the current fire source position. Step 202, combining the known room map and the current fire source location, using a path planning algorithm, taking the shortest path length and navigation time as optimization goals, calculating the optimal walking path that can avoid obstacles and dangerous areas in the house, generating a series of target points on the optimal walking path and outputting them to the mobile mechanism of the mobile fire extinguishing device; In step 203, the computer issues the following instructions: the computer transmits the target point on the optimal walking path to the controller of the walking drive mechanism of the mobile fire extinguishing device, and wirelessly controls the mobile fire extinguishing device to go to the fire source. During the driving process, the computer outputs instructions to the motor of the fan in the smoke exhaust mechanism to start the fan to blow away the smoke in the travel route; at the same time, the computer outputs instructions to the signal light, and the signal light lights up red to remind the staff that there is a fire; when encountering an obstacle, the guide wheel performs passive steering and stops moving after reaching the fire point.

8. The mobile indoor fire extinguishing method according to claim 7, characterized in that: In the fourth step, if the smoke concentration and temperature values ​​are all within the pre-set safety thresholds, it means that the fire is extinguished, and the computer transmits a signal to the control system of the signal light, making the signal light light blue, prompting the staff to lift the alarm.

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